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The driving performance of single track rubber roller driving device was studied. The test was carried on a test-bed with floating vertical pressure clamping and 2-DOF of opposite torque. The curves of compression, friction and positive pressure were figured out. In order to further analyze the deformation micro status of rubber roller, Mooney-Rivlin model in nonlinear finite element and augmented Lagrangian contact algorithm were utilized in numerical analysis. The relationship among positive pressure, adhesion area and compression was analyzed. The contact stress distribution, friction stress distribution and contact state distribution were also obtained. The simulation results of relationship between positive pressure and compression were found to be accordance with the experimental results, which verified the correctness of driving performance relationship between positive pressure and friction. The results showed that, when the positive press was 2 750 N, the maximum single static friction was 1 167 N, the macroscopic friction coefficient was 0.85, the adhesion area was 1 909 mm2, and the compression was 4.6 mm, which met the static technology demand for orchard transportation.